// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
// BY HAND!!
//
// Generated by lcm-gen

#include "grid_map_t.h"
#include <string.h>

static int __grid_map_t_hash_computed;
static uint64_t __grid_map_t_hash;

uint64_t __grid_map_t_hash_recursive(const __lcm_hash_ptr *p) {
    const __lcm_hash_ptr *fp;
    for (fp = p; fp != NULL; fp = fp->parent)
        if (fp->v == __grid_map_t_get_hash)
            return 0;

    __lcm_hash_ptr cp;
    cp.parent = p;
    cp.v = (void *)__grid_map_t_get_hash;
    (void)cp;

    uint64_t hash =
        (uint64_t)0x3b95cdd95c1cd816LL + __int64_t_hash_recursive(&cp) +
        __int8_t_hash_recursive(&cp) + __double_hash_recursive(&cp) +
        __double_hash_recursive(&cp) + __double_hash_recursive(&cp) +
        __int32_t_hash_recursive(&cp) + __int32_t_hash_recursive(&cp) +
        __int32_t_hash_recursive(&cp) + __string_hash_recursive(&cp) +
        __byte_hash_recursive(&cp);

    return (hash << 1) + ((hash >> 63) & 1);
}

int64_t __grid_map_t_get_hash(void) {
    if (!__grid_map_t_hash_computed) {
        __grid_map_t_hash = (int64_t)__grid_map_t_hash_recursive(NULL);
        __grid_map_t_hash_computed = 1;
    }

    return __grid_map_t_hash;
}

int __grid_map_t_encode_array(void *buf, int offset, int maxlen,
                              const grid_map_t *p, int elements) {
    int pos = 0, element;
    int thislen;

    for (element = 0; element < elements; element++) {

        thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].utime), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int8_t_encode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].encoding), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].x0), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].y0), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].meters_per_pixel), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int32_t_encode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].width), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int32_t_encode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].height), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int32_t_encode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].datalen), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __string_encode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].src), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __byte_encode_array(buf, offset + pos, maxlen - pos,
                                      p[element].dst, p[element].datalen);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;
    }
    return pos;
}

int grid_map_t_encode(void *buf, int offset, int maxlen, const grid_map_t *p) {
    int pos = 0, thislen;
    int64_t hash = __grid_map_t_get_hash();

    thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;

    thislen = __grid_map_t_encode_array(buf, offset + pos, maxlen - pos, p, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;

    return pos;
}

int __grid_map_t_encoded_array_size(const grid_map_t *p, int elements) {
    int size = 0, element;
    for (element = 0; element < elements; element++) {

        size += __int64_t_encoded_array_size(&(p[element].utime), 1);

        size += __int8_t_encoded_array_size(&(p[element].encoding), 1);

        size += __double_encoded_array_size(&(p[element].x0), 1);

        size += __double_encoded_array_size(&(p[element].y0), 1);

        size += __double_encoded_array_size(&(p[element].meters_per_pixel), 1);

        size += __int32_t_encoded_array_size(&(p[element].width), 1);

        size += __int32_t_encoded_array_size(&(p[element].height), 1);

        size += __int32_t_encoded_array_size(&(p[element].datalen), 1);

        size += __string_encoded_array_size(&(p[element].src), 1);

        size += __byte_encoded_array_size(p[element].dst, p[element].datalen);
    }
    return size;
}

int grid_map_t_encoded_size(const grid_map_t *p) {
    return 8 + __grid_map_t_encoded_array_size(p, 1);
}

int __grid_map_t_decode_array(const void *buf, int offset, int maxlen,
                              grid_map_t *p, int elements) {
    int pos = 0, thislen, element;

    for (element = 0; element < elements; element++) {

        thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].utime), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int8_t_decode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].encoding), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].x0), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].y0), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].meters_per_pixel), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int32_t_decode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].width), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int32_t_decode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].height), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __int32_t_decode_array(buf, offset + pos, maxlen - pos,
                                         &(p[element].datalen), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        thislen = __string_decode_array(buf, offset + pos, maxlen - pos,
                                        &(p[element].src), 1);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;

        p[element].dst =
            (uint8_t *)lcm_malloc(sizeof(uint8_t) * p[element].datalen);
        thislen = __byte_decode_array(buf, offset + pos, maxlen - pos,
                                      p[element].dst, p[element].datalen);
        if (thislen < 0)
            return thislen;
        else
            pos += thislen;
    }
    return pos;
}

int __grid_map_t_decode_array_cleanup(grid_map_t *p, int elements) {
    int element;
    for (element = 0; element < elements; element++) {

        __int64_t_decode_array_cleanup(&(p[element].utime), 1);

        __int8_t_decode_array_cleanup(&(p[element].encoding), 1);

        __double_decode_array_cleanup(&(p[element].x0), 1);

        __double_decode_array_cleanup(&(p[element].y0), 1);

        __double_decode_array_cleanup(&(p[element].meters_per_pixel), 1);

        __int32_t_decode_array_cleanup(&(p[element].width), 1);

        __int32_t_decode_array_cleanup(&(p[element].height), 1);

        __int32_t_decode_array_cleanup(&(p[element].datalen), 1);

        __string_decode_array_cleanup(&(p[element].src), 1);

        __byte_decode_array_cleanup(p[element].dst, p[element].datalen);
        if (p[element].dst)
            free(p[element].dst);
    }
    return 0;
}

int grid_map_t_decode(const void *buf, int offset, int maxlen, grid_map_t *p) {
    int pos = 0, thislen;
    int64_t hash = __grid_map_t_get_hash();

    int64_t this_hash;
    thislen =
        __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this_hash, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;
    if (this_hash != hash)
        return -1;

    thislen = __grid_map_t_decode_array(buf, offset + pos, maxlen - pos, p, 1);
    if (thislen < 0)
        return thislen;
    else
        pos += thislen;

    return pos;
}

int grid_map_t_decode_cleanup(grid_map_t *p) {
    return __grid_map_t_decode_array_cleanup(p, 1);
}

int __grid_map_t_clone_array(const grid_map_t *p, grid_map_t *q, int elements) {
    int element;
    for (element = 0; element < elements; element++) {

        __int64_t_clone_array(&(p[element].utime), &(q[element].utime), 1);

        __int8_t_clone_array(&(p[element].encoding), &(q[element].encoding), 1);

        __double_clone_array(&(p[element].x0), &(q[element].x0), 1);

        __double_clone_array(&(p[element].y0), &(q[element].y0), 1);

        __double_clone_array(&(p[element].meters_per_pixel),
                             &(q[element].meters_per_pixel), 1);

        __int32_t_clone_array(&(p[element].width), &(q[element].width), 1);

        __int32_t_clone_array(&(p[element].height), &(q[element].height), 1);

        __int32_t_clone_array(&(p[element].datalen), &(q[element].datalen), 1);

        __string_clone_array(&(p[element].src), &(q[element].src), 1);

        q[element].dst =
            (uint8_t *)lcm_malloc(sizeof(uint8_t) * q[element].datalen);
        __byte_clone_array(p[element].dst, q[element].dst, p[element].datalen);
    }
    return 0;
}

grid_map_t *grid_map_t_copy(const grid_map_t *p) {
    grid_map_t *q = (grid_map_t *)malloc(sizeof(grid_map_t));
    __grid_map_t_clone_array(p, q, 1);
    return q;
}

void grid_map_t_destroy(grid_map_t *p) {
    __grid_map_t_decode_array_cleanup(p, 1);
    free(p);
}

int grid_map_t_publish(lcm_t *lc, const char *channel, const grid_map_t *p) {
    int max_data_size = grid_map_t_encoded_size(p);
    uint8_t *buf = (uint8_t *)malloc(max_data_size);
    if (!buf)
        return -1;
    int data_size = grid_map_t_encode(buf, 0, max_data_size, p);
    if (data_size < 0) {
        free(buf);
        return data_size;
    }
    int status = lcm_publish(lc, channel, buf, data_size);
    free(buf);
    return status;
}

struct _grid_map_t_subscription_t {
    grid_map_t_handler_t user_handler;
    void *userdata;
    lcm_subscription_t *lc_h;
};
static void grid_map_t_handler_stub(const lcm_recv_buf_t *rbuf,
                                    const char *channel, void *userdata) {
    int status;
    grid_map_t p;
    memset(&p, 0, sizeof(grid_map_t));
    status = grid_map_t_decode(rbuf->data, 0, rbuf->data_size, &p);
    if (status < 0) {
        fprintf(stderr, "error %d decoding grid_map_t!!!\n", status);
        return;
    }

    grid_map_t_subscription_t *h = (grid_map_t_subscription_t *)userdata;
    h->user_handler(rbuf, channel, &p, h->userdata);

    grid_map_t_decode_cleanup(&p);
}

grid_map_t_subscription_t *grid_map_t_subscribe(lcm_t *lcm, const char *channel,
                                                grid_map_t_handler_t f,
                                                void *userdata) {
    grid_map_t_subscription_t *n =
        (grid_map_t_subscription_t *)malloc(sizeof(grid_map_t_subscription_t));
    n->user_handler = f;
    n->userdata = userdata;
    n->lc_h = lcm_subscribe(lcm, channel, grid_map_t_handler_stub, n);
    if (n->lc_h == NULL) {
        fprintf(stderr, "couldn't reg grid_map_t LCM handler!\n");
        free(n);
        return NULL;
    }
    return n;
}

int grid_map_t_subscription_set_queue_capacity(grid_map_t_subscription_t *subs,
                                               int num_messages) {
    return lcm_subscription_set_queue_capacity(subs->lc_h, num_messages);
}

int grid_map_t_unsubscribe(lcm_t *lcm, grid_map_t_subscription_t *hid) {
    int status = lcm_unsubscribe(lcm, hid->lc_h);
    if (0 != status) {
        fprintf(stderr, "couldn't unsubscribe grid_map_t_handler %p!\n", hid);
        return -1;
    }
    free(hid);
    return 0;
}